Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 1 | /* |
Kristofer Jonsson | 5410db1 | 2022-01-27 17:39:06 +0100 | [diff] [blame] | 2 | * Copyright (c) 2019-2022 Arm Limited. All rights reserved. |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 3 | * |
| 4 | * SPDX-License-Identifier: Apache-2.0 |
| 5 | * |
| 6 | * Licensed under the Apache License, Version 2.0 (the License); you may |
| 7 | * not use this file except in compliance with the License. |
| 8 | * You may obtain a copy of the License at |
| 9 | * |
| 10 | * www.apache.org/licenses/LICENSE-2.0 |
| 11 | * |
| 12 | * Unless required by applicable law or agreed to in writing, software |
| 13 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT |
| 14 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 15 | * See the License for the specific language governing permissions and |
| 16 | * limitations under the License. |
| 17 | */ |
| 18 | |
| 19 | /**************************************************************************** |
| 20 | * Includes |
| 21 | ****************************************************************************/ |
| 22 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 23 | #include "FreeRTOS.h" |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 24 | #include "portmacro.h" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 25 | #include "queue.h" |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 26 | #include "semphr.h" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 27 | #include "task.h" |
| 28 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 29 | #include <inttypes.h> |
| 30 | #include <stdio.h> |
| 31 | #include <vector> |
| 32 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 33 | #include "inference_process.hpp" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 34 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 35 | // Model data (Defined & changable by modifiying compile definition in CMakeLists.txt) |
| 36 | #include "input.h" |
| 37 | #include "model.h" |
| 38 | #include "output.h" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 39 | |
| 40 | using namespace std; |
| 41 | using namespace InferenceProcess; |
| 42 | |
| 43 | /**************************************************************************** |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 44 | * Defines |
| 45 | ****************************************************************************/ |
| 46 | |
| 47 | // Nr. of tasks to process inferences with. Task reserves driver & runs inference (Normally 1 per NPU, but not a must) |
| 48 | #define NUM_INFERENCE_TASKS 1 |
| 49 | // Nr. of tasks to create jobs and recieve responses |
Lior Dekel | edaf2f8 | 2021-08-10 17:06:16 +0300 | [diff] [blame] | 50 | #define NUM_JOB_TASKS 2 |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 51 | // Nr. of jobs to create per job task |
| 52 | #define NUM_JOBS_PER_TASK 1 |
| 53 | |
| 54 | // Tensor arena size |
| 55 | #ifdef TENSOR_ARENA_SIZE // If defined in model.h |
| 56 | #define TENSOR_ARENA_SIZE_PER_INFERENCE TENSOR_ARENA_SIZE |
| 57 | #else // If not defined, use maximum available |
| 58 | #define TENSOR_ARENA_SIZE_PER_INFERENCE 2000000 / NUM_INFERENCE_TASKS |
| 59 | #endif |
| 60 | |
| 61 | /**************************************************************************** |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 62 | * InferenceJob |
| 63 | ****************************************************************************/ |
| 64 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 65 | struct ProcessTaskParams { |
Lior Dekel | edaf2f8 | 2021-08-10 17:06:16 +0300 | [diff] [blame] | 66 | ProcessTaskParams() : queueHandle(nullptr), tensorArena(nullptr), arenaSize(0) {} |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 67 | ProcessTaskParams(QueueHandle_t _queue, uint8_t *_tensorArena, size_t _arenaSize) : |
| 68 | queueHandle(_queue), tensorArena(_tensorArena), arenaSize(_arenaSize) {} |
Anton Moberg | 1a679c4 | 2021-02-10 08:45:39 +0100 | [diff] [blame] | 69 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 70 | QueueHandle_t queueHandle; |
| 71 | uint8_t *tensorArena; |
| 72 | size_t arenaSize; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 73 | }; |
| 74 | |
Lior Dekel | edaf2f8 | 2021-08-10 17:06:16 +0300 | [diff] [blame] | 75 | namespace { |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 76 | // Number of total completed jobs, needed to exit application correctly if NUM_JOB_TASKS > 1 |
Lior Dekel | edaf2f8 | 2021-08-10 17:06:16 +0300 | [diff] [blame] | 77 | int totalCompletedJobs = 0; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 78 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 79 | // TensorArena static initialisation |
Lior Dekel | edaf2f8 | 2021-08-10 17:06:16 +0300 | [diff] [blame] | 80 | const size_t arenaSize = TENSOR_ARENA_SIZE_PER_INFERENCE; |
| 81 | |
| 82 | // Declare below variables in global scope to avoid stack since FreeRTOS resets stack when the scheduler is started |
| 83 | QueueHandle_t inferenceProcessQueue; |
| 84 | ProcessTaskParams taskParams[NUM_INFERENCE_TASKS]; |
| 85 | } // namespace |
| 86 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 87 | __attribute__((section(".bss.tensor_arena"), aligned(16))) |
| 88 | uint8_t inferenceProcessTensorArena[NUM_INFERENCE_TASKS][arenaSize]; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 89 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 90 | // Wrapper around InferenceProcess::InferenceJob. Adds responseQueue and status for FreeRTOS multi-tasking purposes. |
| 91 | struct xInferenceJob : public InferenceJob { |
| 92 | QueueHandle_t responseQueue; |
| 93 | bool status; |
| 94 | |
| 95 | xInferenceJob() : InferenceJob(), responseQueue(nullptr), status(false) {} |
| 96 | xInferenceJob(const string &_name, |
| 97 | const DataPtr &_networkModel, |
| 98 | const vector<DataPtr> &_input, |
| 99 | const vector<DataPtr> &_output, |
| 100 | const vector<DataPtr> &_expectedOutput, |
| 101 | const size_t _numBytesToPrint, |
Kristofer Jonsson | 5410db1 | 2022-01-27 17:39:06 +0100 | [diff] [blame] | 102 | void *_userArg, |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 103 | QueueHandle_t _queue) : |
Kristofer Jonsson | 5410db1 | 2022-01-27 17:39:06 +0100 | [diff] [blame] | 104 | InferenceJob(_name, _networkModel, _input, _output, _expectedOutput, _numBytesToPrint, _userArg), |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 105 | responseQueue(_queue), status(false) {} |
| 106 | }; |
| 107 | |
| 108 | /**************************************************************************** |
| 109 | * Mutex & Semaphore |
| 110 | * Overrides weak-linked symbols in ethosu_driver.c to implement thread handling |
| 111 | ****************************************************************************/ |
| 112 | |
| 113 | extern "C" { |
| 114 | |
| 115 | void *ethosu_mutex_create(void) { |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 116 | SemaphoreHandle_t sem = xSemaphoreCreateMutex(); |
| 117 | if (sem == NULL) { |
| 118 | printf("Error: Failed to create mutex.\n"); |
| 119 | } |
| 120 | return (void *)sem; |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 121 | } |
| 122 | |
| 123 | void ethosu_mutex_lock(void *mutex) { |
| 124 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex); |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 125 | if (xSemaphoreTake(handle, portMAX_DELAY) != pdTRUE) { |
| 126 | printf("Error: Failed to lock mutex.\n"); |
| 127 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 128 | } |
| 129 | |
| 130 | void ethosu_mutex_unlock(void *mutex) { |
| 131 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex); |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 132 | if (xSemaphoreGive(handle) != pdTRUE) { |
| 133 | printf("Error: Failed to unlock mutex.\n"); |
| 134 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 135 | } |
| 136 | |
| 137 | void *ethosu_semaphore_create(void) { |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 138 | SemaphoreHandle_t sem = xSemaphoreCreateBinary(); |
| 139 | if (sem == NULL) { |
| 140 | printf("Error: Failed to create semaphore.\n"); |
| 141 | } |
| 142 | return (void *)sem; |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 143 | } |
| 144 | |
| 145 | void ethosu_semaphore_take(void *sem) { |
| 146 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem); |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 147 | if (xSemaphoreTake(handle, portMAX_DELAY) != pdTRUE) { |
| 148 | printf("Error: Failed to take semaphore.\n"); |
| 149 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 150 | } |
| 151 | |
| 152 | void ethosu_semaphore_give(void *sem) { |
| 153 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem); |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 154 | BaseType_t ret; |
| 155 | |
| 156 | if (xPortIsInsideInterrupt()) { |
| 157 | ret = xSemaphoreGiveFromISR(handle, NULL); |
| 158 | if (ret != pdTRUE) { |
Kristofer Jonsson | 29467e0 | 2021-11-26 16:10:43 +0100 | [diff] [blame] | 159 | printf("Error: Failed to give semaphore from ISR. ret - 0x%08lx\n", ret); |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 160 | } |
| 161 | } else { |
| 162 | ret = xSemaphoreGive(handle); |
| 163 | if (ret != pdTRUE) { |
| 164 | /* The next line is in comment because xSemaphoreGive returns pdFAIL when |
| 165 | calling it twice in a row during this application run. |
| 166 | This failure doesn't affect the final result of the FreeRTOS application. */ |
| 167 | /* printf("Error: Failed to give semaphore. ret - 0x%08x\n", ret); */ |
| 168 | } |
| 169 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 170 | } |
| 171 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 172 | |
| 173 | /**************************************************************************** |
| 174 | * Functions |
| 175 | ****************************************************************************/ |
| 176 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 177 | // inferenceProcessTask - Run jobs from queue with available driver |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 178 | void inferenceProcessTask(void *pvParameters) { |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 179 | ProcessTaskParams params = *reinterpret_cast<ProcessTaskParams *>(pvParameters); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 180 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 181 | class InferenceProcess inferenceProcess(params.tensorArena, params.arenaSize); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 182 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 183 | for (;;) { |
| 184 | xInferenceJob *xJob; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 185 | |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 186 | if (xQueueReceive(params.queueHandle, &xJob, portMAX_DELAY) != pdPASS) { |
| 187 | printf("Error: inferenceProcessTask failed in receive from Q.\n"); |
| 188 | exit(1); |
| 189 | } |
| 190 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 191 | bool status = inferenceProcess.runJob(*xJob); |
| 192 | xJob->status = status; |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 193 | if (xQueueSend(xJob->responseQueue, &xJob, portMAX_DELAY) != pdPASS) { |
| 194 | printf("Error: inferenceProcessTask failed in send to Q.\n"); |
| 195 | exit(1); |
| 196 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 197 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 198 | vTaskDelete(nullptr); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 199 | } |
| 200 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 201 | // inferenceSenderTask - Creates NUM_INFERNECE_JOBS jobs, queues them, and then listens for completion status |
| 202 | void inferenceSenderTask(void *pvParameters) { |
| 203 | int ret = 0; |
| 204 | |
Kristofer Jonsson | 29467e0 | 2021-11-26 16:10:43 +0100 | [diff] [blame] | 205 | QueueHandle_t _inferenceProcessQueue = reinterpret_cast<QueueHandle_t>(pvParameters); |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 206 | xInferenceJob jobs[NUM_JOBS_PER_TASK]; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 207 | |
| 208 | // Create queue for response messages |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 209 | QueueHandle_t senderQueue = xQueueCreate(NUM_JOBS_PER_TASK, sizeof(xInferenceJob *)); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 210 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 211 | // Create and queue the jobs |
| 212 | for (int n = 0; n < NUM_JOBS_PER_TASK; n++) { |
| 213 | // Create job |
| 214 | xInferenceJob *job = &jobs[n]; |
| 215 | job->name = string(modelName); |
| 216 | job->networkModel = DataPtr(networkModelData, sizeof(networkModelData)); |
| 217 | job->input.push_back(DataPtr(inputData, sizeof(inputData))); |
| 218 | job->expectedOutput.push_back(DataPtr(expectedOutputData, sizeof(expectedOutputData))); |
| 219 | job->responseQueue = senderQueue; |
| 220 | // Send job |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 221 | printf("inferenceSenderTask: Sending inference job: job=%p, name=%s\n", job, job->name.c_str()); |
Kristofer Jonsson | 29467e0 | 2021-11-26 16:10:43 +0100 | [diff] [blame] | 222 | if (xQueueSend(_inferenceProcessQueue, &job, portMAX_DELAY) != pdPASS) { |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 223 | printf("Error: inferenceSenderTask failed in send to Q.\n"); |
| 224 | exit(1); |
| 225 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 226 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 227 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 228 | // Listen for completion status |
| 229 | do { |
| 230 | xInferenceJob *pSendJob; |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 231 | if (xQueueReceive(senderQueue, &pSendJob, portMAX_DELAY) != pdPASS) { |
| 232 | printf("Error: inferenceSenderTask failed in receive from Q.\n"); |
| 233 | exit(1); |
| 234 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 235 | printf("inferenceSenderTask: received response for job: %s, status = %u\n", |
| 236 | pSendJob->name.c_str(), |
| 237 | pSendJob->status); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 238 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 239 | totalCompletedJobs++; |
| 240 | ret = (pSendJob->status); |
| 241 | if (pSendJob->status != 0) { |
| 242 | break; |
| 243 | } |
| 244 | } while (totalCompletedJobs < NUM_JOBS_PER_TASK * NUM_JOB_TASKS); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 245 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 246 | vQueueDelete(senderQueue); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 247 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 248 | printf("FreeRTOS application returning %d.\n", ret); |
| 249 | exit(ret); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 250 | } |
| 251 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 252 | /**************************************************************************** |
| 253 | * Application |
| 254 | ****************************************************************************/ |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 255 | // FreeRTOS application. NOTE: Additional tasks may require increased heap size. |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 256 | int main() { |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 257 | BaseType_t ret; |
| 258 | inferenceProcessQueue = xQueueCreate(NUM_JOBS_PER_TASK, sizeof(xInferenceJob *)); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 259 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 260 | // inferenceSender tasks to create and queue the jobs |
| 261 | for (int n = 0; n < NUM_JOB_TASKS; n++) { |
| 262 | ret = xTaskCreate(inferenceSenderTask, "inferenceSenderTask", 2 * 1024, inferenceProcessQueue, 2, nullptr); |
| 263 | if (ret != pdPASS) { |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 264 | printf("Error: Failed to create 'inferenceSenderTask%i'\n", n); |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 265 | exit(1); |
| 266 | } |
| 267 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 268 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 269 | // Create inferenceProcess tasks to process the queued jobs |
| 270 | for (int n = 0; n < NUM_INFERENCE_TASKS; n++) { |
| 271 | taskParams[n] = ProcessTaskParams(inferenceProcessQueue, inferenceProcessTensorArena[n], arenaSize); |
Kristofer Jonsson | 99f1942 | 2021-07-01 22:15:02 +0200 | [diff] [blame] | 272 | ret = xTaskCreate(inferenceProcessTask, "inferenceProcessTask", 8 * 1024, &taskParams[n], 3, nullptr); |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 273 | if (ret != pdPASS) { |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 274 | printf("Error: Failed to create 'inferenceProcessTask%i'\n", n); |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 275 | exit(1); |
| 276 | } |
| 277 | } |
| 278 | |
| 279 | // Start Scheduler |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 280 | vTaskStartScheduler(); |
| 281 | |
Lior Dekel | 3e12862 | 2021-09-23 18:57:12 +0300 | [diff] [blame] | 282 | printf("Error: FreeRTOS application failed to initialise.\n"); |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 283 | exit(1); |
| 284 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 285 | return 0; |
Lior Dekel | edaf2f8 | 2021-08-10 17:06:16 +0300 | [diff] [blame] | 286 | } |